3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-18 20:28:10 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 3

stepcompress: Do all step rounding in C code

Browse source 
Commits f0cefebf and 8f331f08 changed the way the code determined what
steps to take on fractional steps.  Unfortunately, it was possible in
some situations for the C code to round differently from the python
code which could result in warnings and lost steps.

Change the code so that all fractional step handling is done in the C
code.  Implementing the step rounding logic in one location avoids any
conflicts.

In order to efficiently handle the step rounding in the C code, the C
code has also been extended to directly send the "set_next_step_dir"
command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-10 12:44:04 -05:00
parent 79da35d023
commit 7554c7f694
6 changed files with 154 additions and 131 deletions
Download patch file Download diff file Expand all files Collapse all files

28
klippy/mcu.py
View file

@ -22,7 +22,7 @@ class MCU_stepper:
self._oid = mcu.create_oid()
step_pin, pullup, invert_step = parse_pin_extras(step_pin)
dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
self._sdir = -1
self._need_reset = True
self._mcu_freq = mcu.get_mcu_freq()
min_stop_interval = int(min_stop_interval * self._mcu_freq)
max_error = int(max_error * self._mcu_freq)
@ -39,30 +39,26 @@ class MCU_stepper:
"reset_step_clock oid=%c clock=%u")
ffi_main, self.ffi_lib = chelper.get_ffi()
self._stepqueue = self.ffi_lib.stepcompress_alloc(
max_error, self._step_cmd.msgid, self._oid)
max_error, self._step_cmd.msgid
, self._dir_cmd.msgid, self._invert_dir, self._oid)
self.print_to_mcu_time = mcu.print_to_mcu_time
def get_oid(self):
return self._oid
def get_invert_dir(self):
return self._invert_dir
def note_stepper_stop(self):
self._sdir = -1
def _reset_step_clock(self, clock):
self._need_reset = True
def check_reset(self, mcu_time):
if not self._need_reset:
return
self._need_reset = False
clock = int(mcu_time * self._mcu_freq)
self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
def set_next_step_dir(self, mcu_time, sdir):
if self._sdir == sdir:
return
if self._sdir == -1:
clock = int(mcu_time * self._mcu_freq)
self._reset_step_clock(clock)
self._sdir = sdir
data = (self._dir_cmd.msgid, self._oid, sdir ^ self._invert_dir)
self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
def step(self, mcu_time):
def step(self, mcu_time, sdir):
clock = mcu_time * self._mcu_freq
self.ffi_lib.stepcompress_push(self._stepqueue, clock)
self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor):
clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2
@ -477,7 +473,7 @@ class Dummy_MCU_stepper:
self._stepid, dirstr, countstr, addstr, interval))
def set_next_step_dir(self, dir):
self._sdir = dir
def _reset_step_clock(self, clock):
def check_reset(self, clock):
self._mcu.outfile.write("G6S%dT%d\n" % (self._stepid, clock))
def print_to_mcu_time(self, print_time):
return self._mcu.print_to_mcu_time(print_time)